Unable to find plan_ fsm_ param. yaml

Hello！My name is Yixiao Du. When I reproduce your code, there are two problems. Hope to get your help!Thank you! When I want to run the trained agent:

python run_agent.py --load DRL_LOCAL_PLANNER_2021_03_22__19_33 -s obstacle_map1_obs20

And I should note: Notes:

_When running start_arenaflatland.launch: Make sure that drl_mode is activated in plan_fsm_param.yaml

However, I can't find the file in this location.

If I ignore this file, continue to run the code

# Start the simulation
roslaunch arena_bringup start_training.launch num_envs:=1 map_folder_name:=map1 train_mode:=false

python run_agent.py --load DRL_LOCAL_PLANNER_2021_03_22__19_33 --scenario obstacle_map1_obs20

Then I got:

Can't not determinate the number of the environment, training script may crash!
/home/dell/.cache/pypoetry/virtualenvs/arena-rosnav-jPKqHTAF-py3.8/lib/python3.8/site-packages/gym/spaces/box.py:73: UserWarning: WARN: Box bound precision lowered by casting to float32
  logger.warn(
Traceback (most recent call last):
  File "run_agent.py", line 142, in <module>
    env = DummyVecEnv(
  File "/home/dell/catkin_ws/src/forks/stable-baselines3/stable_baselines3/common/vec_env/dummy_vec_env.py", line 25, in __init__
    self.envs = [fn() for fn in env_fns]
  File "/home/dell/catkin_ws/src/forks/stable-baselines3/stable_baselines3/common/vec_env/dummy_vec_env.py", line 25, in <listcomp>
    self.envs = [fn() for fn in env_fns]
  File "run_agent.py", line 84, in _init
    env = FlatlandEnv(
  File "/home/dell/catkin_ws/src/arena-rosnav/arena_navigation/arena_local_planner/learning_based/arena_local_planner_drl/rl_agent/envs/flatland_gym_env.py", line 129, in __init__
    self.task = get_predefined_task(
  File "/home/dell/catkin_ws/src/arena-rosnav/task_generator/task_generator/tasks.py", line 672, in get_predefined_task
    robot_manager = RobotManager(
  File "/home/dell/catkin_ws/src/arena-rosnav/task_generator/task_generator/robot_manager.py", line 73, in __init__
    self.planner = rospy.get_param("/local_planner")
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/client.py", line 467, in get_param
    return _param_server[param_name] #MasterProxy does all the magic for us
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rospy/msproxy.py", line 123, in __getitem__
    raise KeyError(key)
KeyError: '/local_planner'

In addition, when I evaluated cadrl, it doesn't work,too.

When I run:

roslaunch arena_bringup start_arena_flatland.launch disable_scenario:="false" map_file:="map1" scenario_file:="eval/obstacle_map1_obs10.json" local_planner:="teb"

an error occurred:

[cadrl/cadrl_node-8] process has died [pid 8116, exit code 1, cmd /home/dell/catkin_ws/src/arena-rosnav/arena_navigation/arena_local_planner/model_based/cadrl_ros/scripts/cadrl_node_tb3.py ~other_vels:=other_vels ~nn_cmd_vel:=/cmd_vel ~pose_marker:=pose_marker ~path_marker:=path_marker ~goal_path_marker:=goal_path_marker ~agent_marker:=other_agents_marker ~agent_markers:=other_agents_markers ~pose:=/odom ~velocity:=velocity ~safe_actions:=local_path_finder/safe_actions ~planner_mode:=planner_fsm/mode ~goal:=/goal ~subgoal:=/subgoal ~clusters:=/obst_odom ~peds:=ped_manager/ped_recent __name:=cadrl_node __log:=/home/dell/.ros/log/efbdc6e4-9168-11ec-b105-08beac085e17/cadrl-cadrl_node-8.log].
log file: /home/dell/.ros/log/efbdc6e4-9168-11ec-b105-08beac085e17/cadrl-cadrl_node-8*.log

It doesn't appear when I use TEB, DWA, etc

It puzzles me.

Hope to get your help, thank you very much!

ignc-research / arena-rosnav

Unable to find plan_ fsm_ param. yaml #44